CN204929664U - Intelligence mushroom picking vehicle - Google Patents
Intelligence mushroom picking vehicle Download PDFInfo
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- CN204929664U CN204929664U CN201520679512.5U CN201520679512U CN204929664U CN 204929664 U CN204929664 U CN 204929664U CN 201520679512 U CN201520679512 U CN 201520679512U CN 204929664 U CN204929664 U CN 204929664U
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Abstract
A kind of intelligent mushroom picking vehicle, comprise walking vehicle body, for driving the motor of walking vehicle body, be arranged at the container of bracing frame on walking vehicle body and upper opening, and processor, bracing frame is provided with image acquisition device, for clamping the clamp assemblies of mushroom handle and the cutting assembly for cutting mushroom handle, motor, image acquisition device, clamp assemblies are connected with processor respectively with cutting assembly.Solve in mushroom production process the technical problem of the growing state needing manually to check mushroom one by one and then the harvesting carrying out qualified mushroom.It not only can substitute and manually complete checking and harvesting work of mushroom, and has clear and definite criterion because of it, so the mushroom size of plucking is basically identical, and overall better appearance.
Description
Technical field
The utility model relates to agricultural harvesting machine technical field.Specifically, a kind of intelligent mushroom picking vehicle is related to.
Background technology
In present Mushroom production, because mushroom growth is large to the time that can pluck short and speed difference, needs people and go running check mushroom growth situation, and pluck.Therefore, in mushroom production process, mushroom is plucked to be needed to spend a large amount of labours, thus makes the cost of mushroom very high.In prior art, the technical scheme of plucking the labour of cost in order to reduce mushroom is all improve from manually plucking the instrument used.The utility model patent being CN203801289U as publication number discloses a kind of mushroom factory mushroom harvesting car, comprise bracing or strutting arrangement, guardrail, gripper shoe, staircase, handrail and roller, go-cart plate is provided with bracing or strutting arrangement, bracing or strutting arrangement is formed by support column and adjusting device, there is gripper shoe on the support columns, support plate edge is surrounded with guardrail, and one end of gripper shoe both sides is provided with staircase, and staircase is not connected with bottom support plate.Which solve the asynchronous harvesting problem of cultivated mushroom height, save human cost, improve operating efficiency.
But labour does not really free by it from mushroom is plucked, but still needs manually to go to check mushroom growth situation, and is manually picked by the mushroom of maturation.
In addition, be manually difficult to reach standardization to the judgement of mushroom size, state and cutting position, affect the yield and quality of mushroom.
Utility model content
For this reason, the labour of the artificial harvesting that technical problem to be solved in the utility model is mushroom not only at substantial, and cause the quality of mushroom to be difficult to ensure because artificial judgment is difficult to standardization, thus a kind of intelligent mushroom picking vehicle is proposed.
For solving the problems of the technologies described above, the utility model provides following technical scheme:
A kind of intelligent mushroom picking vehicle, comprise walking vehicle body, for driving the motor of walking vehicle body, be arranged at the container of bracing frame on walking vehicle body and upper opening, and processor, bracing frame is provided with image acquisition device, for clamping the clamp assemblies of mushroom handle and the cutting assembly for cutting mushroom handle, motor, image acquisition device, clamp assemblies are connected with processor respectively with cutting assembly.
Preferably, bracing frame is also provided with light fixture.
Preferably, also comprise light sensor, light sensor is connected with processor, and light fixture is connected with processor by intednsity circuit.
Preferably, clamp assemblies is provided with pressure sensor, and pressure sensor is connected with processor, for adjusting the clamping dynamics of clamp assemblies.
Preferably, two clamping limbs that clamp assemblies comprises swing link mechanism or pantograph linkage and cooperatively interacts, swing link mechanism or pantograph linkage make two clamping limbs can move back and forth between the overthe openings of container and the mushroom handle of field planting.
Preferably, also comprise range sensor, range sensor is connected with processor.
Preferably, also comprise the weight sensor being arranged at container bottom, for the mushroom weight in inspection instrument, weight sensor is connected with processor.
Preferably, container is connected with walking vehicle body by tipping mechanism.
Preferably, walking vehicle body at least comprises four road wheels, and each road wheel is driven by a motor, and each motor is connected with processor respectively.
Preferably, also comprise electric quantity detecting circuit, for detecting the dump energy of the power supply of intelligent mushroom picking vehicle, electric quantity detecting circuit is connected with processor.
Technique scheme of the present utility model has the following advantages compared to existing technology:
1. the intelligent mushroom picking vehicle that provides of the utility model, be provided with and control motor-driven walking vehicle body by processor, the image acquisition device be connected with processor and the clamp assemblies controlled respectively by controller and cutting assembly, be used in addition collecting the container of mushroom, according to mushroom profile each in the image of image acquisition device collection, picking vehicle judges whether the size of mushroom has reached and can pluck level, if, then clamp assemblies clamps the handle of this mushroom, then mushroom handle lower end cuts off by cutting assembly, thus realize mushroom automatically check the automatic harvesting with qualified mushroom.Be cut off at mushroom handle, after mushroom is separated with its root, mushroom also can be clamped to the opening part of container by clamp assemblies, then unclamps clamping and mushroom is put into container, thus realize by the automatic collection of plucking mushroom.This intelligent mushroom picking vehicle substitutes labour and completes harvesting work in mushroom production process, reduces the human cost of Mushroom production.In addition, compared with manually plucking, this mushroom picking vehicle is to the relatively unification of the criterion of mushroom size, and the size of the mushroom of therefore plucking is relatively more consistent, overall better appearance.
2. the intelligent mushroom picking vehicle that provides of the utility model, is also provided with light fixture, makes picking vehicle also can carry out harvesting operation when insufficient lights such as nights.Compared with needing rest with plucker, this intelligent mushroom picking vehicle can full-time employment.In addition, this picking vehicle is also provided with light sensor and intednsity circuit, and light sensor is connected with processor, and light fixture is connected with processor by intednsity circuit.Light sensor is used for detecting the light conditions of its working environment, and processor adjusts intednsity circuit with the adjustment of the switch and brightness that control light fixture according to the information of light sensor collection.Thus when insufficient light, light fixture can be opened in time to ensure the normal work of mushroom picking vehicle, and reduce the luminosity of light fixture when extraneous ambient light is sufficient or close light fixture to reduce the waste of electric energy.
3. the intelligent mushroom picking vehicle that provides of the utility model, is also provided with the range sensor be connected with processor, makes this mushroom picking vehicle can detect the barrier on its track route and avoid.Thus can prevent picking vehicle from causing damaging or overturning and affect harvesting work because of collision.
4. the intelligent mushroom picking vehicle that provides of the utility model, also be provided with the weight sensor be connected with processor, this weight sensor is arranged on container bottom, for the mushroom weight in inspection instrument, compared with the gravimetric value preset in processor, after mushroom weight has reached this numerical value, processor has controlled walking vehicle body and has driven to default place, and then control the driving mechanism of tipping mechanism, mushroom is poured out from container.Afterwards, get back to continuation on original route check the growing state of mushroom and pluck sizeable mushroom.
5. the intelligent mushroom picking vehicle that provides of the utility model, be also provided with electric quantity detecting circuit, for detecting the dump energy of the power supply of intelligent mushroom picking vehicle, the output of electric quantity detecting circuit is connected with processor.When electric quantity detecting circuit detects that electricity is not enough, processor can be controlled picking vehicle and drive to the charging place of specifying by the motor controlling each road wheel.Automatically return original route after completing charging process continue to check the growing state of mushroom and pluck sizeable mushroom.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of intelligent mushroom picking vehicle of the utility model embodiment;
Fig. 2 is the one intelligence mushroom picking vehicle circuit connection structure schematic diagram of the utility model embodiment;
Fig. 3 is a kind of clamp assemblies of the utility model embodiment and the working state schematic representation of cutting assembly.
In figure, Reference numeral is expressed as: 1-walking vehicle body, 2-bracing frame, 3-container, 4-cutting assembly, 41-cutter, 5-clamp assemblies, 51-clamping limb, 6-image acquisition device, 7-light fixture, 8-swing link mechanism, 9-processor, 10-motor, 11-weight sensor, 12-intednsity circuit, 13-pressure sensor, 14-electric quantity detecting circuit, 15-range sensor, 16-light sensor.
Embodiment
In order to make those skilled in the art person understand content of the present utility model better, below in conjunction with drawings and Examples, technical scheme provided by the utility model is described in further detail.
Embodiment 1
As illustrated in fig. 1 and 2, present embodiments provide a kind of intelligent mushroom picking vehicle, comprise walking vehicle body 1, for driving the motor 10 of walking vehicle body 1, be arranged at the container 3 of bracing frame 2 on walking vehicle body 1 and upper opening, and processor 9, bracing frame 2 is provided with image acquisition device 6, for clamping the clamp assemblies 5 of mushroom handle and the cutting assembly 4 for cutting mushroom handle, motor 10, image acquisition device 6, clamp assemblies 5 are connected with processor 9 respectively with cutting assembly 4.
Particularly, as shown in Figure 3, above-mentioned cutting assembly 4 mainly comprises cutter 41 and drives structure, the metal material that the preferred employing of cutter 41 is not easily got rusty, and processor controls drives structure and makes cutter 41 realize moving back and forth to complete cutting work.Above-mentioned image acquisition device 6 is general visible video camera or thermal camera, be mainly used in the mushroom image before in Real-time Collection walking vehicle body 1 walking process, then mushroom image is transferred to connected processor 9, processor 9 judges the size of mushroom according to the profile of mushroom in image, when the size of mushroom falls in the default standard size range of processor 9, processor 9 will control the mushroom handle that clamp assemblies 5 clamps this mushroom, and control cutting assembly 4 and cut off mushroom handle lower end, then processor 9 also can control clamp assemblies 5 and is carried to by mushroom above container 3, after unclamping clamping, mushroom can be accommodated in container 3.The track route of walking vehicle body 1 sets according to the planting area of mushroom in advance, can cover the current whole mushroom planting area needing to pluck.Therefore, mushroom picking vehicle can make an inspection tour all mushrooms back and forth, and plucks in time when mushroom grows to the size that can pluck.Utilize machine substitute labour realize the checking of mushroom growth situation, the qualified mushroom of size harvesting and by the automatic collection of going to gather mushrooms, reduce the production cost of mushroom.
Also checking of mushroom growth situation can be completed when insufficient lights such as nights and the qualified mushroom ground of size is plucked in time in order to make this intelligent mushroom picking vehicle, bracing frame 2 is provided with light fixture 7, for mushroom picking vehicle provides extra light.In addition, the present embodiment is also provided with light sensor 16 to gather the brightness of current mushroom picking vehicle working environment, the monochrome information collected is transferred to connected processor 9 by this light sensor 16, and processor 9 regulates the luminosity of light fixture 7 by controlling intednsity circuit 12 according to the brightness case of current environment.Thus when extraneous ambient light is not enough, light fixture 7 can be opened in time to ensure the normal work of mushroom picking vehicle, and reduce the luminosity of light fixture 7 when extraneous ambient light is sufficient or close light fixture 7 to reduce the waste of electric energy.Above-mentioned light fixture 7 specifically can be LED group, in addition, can coordinate according to image acquisition device 6 difference and select different LED, common visible LED lamp is then selected when such as image acquisition device 6 is visible light camera, if image acquisition device 6 selects thermal camera, then correspondingly select infrared LEDs lamp.
In other interchangeable embodiments, the mushroom image that processor 9 also can directly gather according to image acquisition device 6 judges the brightness case of light, then open by controlling intednsity circuit 12, close light fixture 7, or heighten, turn down the luminosity of light fixture 7.With when not wasting electric energy, ensure that processor 9 accurately can identify the mushroom profile gathered in image, thus prevent from mushroom picking vehicle from leaking adopting the qualified mushroom of size or mistake adopts the underproof mushroom of size.
Above-mentioned clamp assemblies 5 is mainly used in clamping mushroom handle to be gone to gather mushrooms, and mushroom handle lower end is cut disconnected be separated with root after still clamp mushroom handle so that mushroom is put into container 3, realize automatic collection function.In order to better realize above-mentioned functions and prevent mushroom handle to be clamped to the quality damaged and affect mushroom, the present embodiment preferably arranges pressure sensor 13 on clamp assemblies 5, this pressure sensor 13 is connected with processor 9, for feeding back mushroom by the pressure clamped, the clamping dynamics of the pressure signal adjustment clamp assemblies 5 that processor 9 gathers according to pressure sensor 13.
As preferred embodiment, two clamping limbs 51 that clamp assemblies 5 comprises swing link mechanism 8 or pantograph linkage and cooperatively interacts, swing link mechanism 8 or pantograph linkage make two clamping limbs 51 can move back and forth between the overthe openings of container 3 and the mushroom handle of field planting.The driving mechanism of swing link mechanism 8 or pantograph linkage is subject to processing device 9 and controls, processor 9 according to gather image judge certain mushroom reached can pluck size time, then controlling this driving mechanism drives swing link mechanism 8 or pantograph linkage to make two clamping limbs 51 reach the mushroom handle place of this mushroom, and clamp mushroom handle upper end, as shown in Figure 3, after mushroom handle lower end cuts off by cutting assembly 4, processor 9 controls driving mechanism and drives swing link mechanism 8 or pantograph linkage to make two clamping limbs 51 reach upper shed place of container 3, unclamp clamping to deposit in container 3 with the quick mushroom by harvesting.
As further preferred embodiment, this intelligent mushroom picking vehicle also comprises range sensor 15, and range sensor 15 is connected with processor 9.Walk back and forth in process at mushroom picking vehicle, due to may barrier be encountered when error or other reasons cause picking vehicle to depart from default route, or because the reason such as to topple over of object causes surprisingly on the default track route of picking vehicle occurring barrier, now, harvesting needs avoiding obstacles to prevent collision.Range sensor 15 can be used for detecting barrier, the range information avoiding obstacles that processor 9 gathers according to range sensor 15.This range sensor 15 specifically can adopt ultrasonic distance sensor or infrared rays range sensor etc.In other alternative, the image that processor 9 also can directly gather according to image acquisition device 6 detects barrier and avoiding obstacles.
As another preferred embodiment, this mushroom picking vehicle also comprises the weight sensor 11 be arranged at bottom container 3, and for the mushroom weight in inspection instrument 3, weight sensor 11 is connected with processor 9.In addition, container 3 is connected with walking vehicle body 1 by tipping mechanism.Mushroom weight information in the container 3 detected is transferred to processor 9 by weight sensor 11, after processor 9 finds that it has exceeded default gravimetric value after treatment, then control the motor 10 driving walking vehicle body 1, picking vehicle is made to drive to default place, then processor 9 controls the driving mechanism of tipping mechanism again, container 3 is tilted to a direction, thus the mushroom of collecting within it is poured out.Afterwards, picking vehicle can be got back to the growing state of continuation inspection mushroom on original route and pluck sizeable mushroom.
Particularly, walking vehicle body 1 at least comprises four road wheels, and each road wheel is driven by a motor 10, and each motor 10 is connected with processor 9 respectively.Processor 9 controls the motion of each road wheel respectively by the motor 10 controlling each road wheel, to improve the flexibility of picking vehicle walking.
In addition, mushroom picking vehicle can also preferably include electric quantity detecting circuit 14, and for detecting the dump energy of the power supply of intelligent mushroom picking vehicle, the output of electric quantity detecting circuit 14 is connected with processor 9.When electric quantity detecting circuit 14 detects that electricity is not enough, processor 9 can control picking vehicle by the motor 10 controlling each road wheel and drive to the charging place of specifying.Charging place is provided with charging socket, picking vehicle is provided with and matches and the easy slotting charging plug easily pulled out with this charging socket, to make picking vehicle automatically can complete charging process, then return original route and continue to check the growing state of mushroom and pluck sizeable mushroom.
Obviously, above-described embodiment is only for clearly example being described, and the restriction not to embodiment.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here exhaustive without the need to also giving all embodiments.And thus the apparent change of extending out or variation be still among the protection domain of the invention.
Claims (10)
1. an intelligent mushroom picking vehicle, it is characterized in that, comprise walking vehicle body (1), for driving the motor (10) of described walking vehicle body (1), be arranged at the container (3) of bracing frame (2) on described walking vehicle body (1) and upper opening, and processor (9), support frame as described above (2) is provided with image acquisition device (6), for clamping the clamp assemblies (5) of mushroom handle and the cutting assembly (4) for cutting mushroom handle, described motor (10), described image acquisition device (6), described clamp assemblies (5) is connected with described processor (9) respectively with described cutting assembly (4).
2. intelligent mushroom picking vehicle as claimed in claim 1, is characterized in that, support frame as described above (2) is also provided with light fixture (7).
3. intelligent mushroom picking vehicle as claimed in claim 2, it is characterized in that, also comprise light sensor (16), described light sensor (16) is connected with described processor (9), and described light fixture (7) is connected with described processor (9) by intednsity circuit (12).
4. intelligent mushroom picking vehicle as claimed in claim 1, it is characterized in that, described clamp assemblies (5) is provided with pressure sensor (13), described pressure sensor (13) is connected with described processor (9), for adjusting the clamping dynamics of described clamp assemblies (5).
5. intelligent mushroom picking vehicle as claimed in claim 1, it is characterized in that, two clamping limbs that described clamp assemblies (5) comprises swing link mechanism (8) or pantograph linkage and cooperatively interacts, described swing link mechanism (8) or described pantograph linkage make two described clamping limbs can move back and forth between the overthe openings of described container (3) and the mushroom handle of field planting.
6. intelligent mushroom picking vehicle as claimed in claim 1, is characterized in that, also comprises range sensor (15), and described range sensor (15) is connected with described processor (9).
7. intelligent mushroom picking vehicle as claimed in claim 1, it is characterized in that, also comprise the weight sensor (11) being arranged at described container (3) bottom, for detecting the mushroom weight in described container (3), described weight sensor (11) is connected with described processor (9).
8. intelligent mushroom picking vehicle as claimed in claim 1, is characterized in that, described container (3) is connected with described walking vehicle body (1) by tipping mechanism.
9. intelligent mushroom picking vehicle as claimed in claim 1, it is characterized in that, described walking vehicle body (1) at least comprises four road wheels, each described road wheel is driven by a described motor (10), and each described motor (10) is connected with described processor (9) respectively.
10. intelligent mushroom picking vehicle as claimed in any one of claims 1-9 wherein, it is characterized in that, also comprise electric quantity detecting circuit (14), for detecting the dump energy of the power supply of described intelligent mushroom picking vehicle, described electric quantity detecting circuit (14) is connected with described processor (9).
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| CN201520679512.5U CN204929664U (en) | 2015-09-02 | 2015-09-02 | Intelligence mushroom picking vehicle |
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| CN201520679512.5U CN204929664U (en) | 2015-09-02 | 2015-09-02 | Intelligence mushroom picking vehicle |
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| CN204929664U true CN204929664U (en) | 2016-01-06 |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106385958A (en) * | 2016-11-29 | 2017-02-15 | 河南豫博药业科技有限公司 | Billhook type spina gleditsiae branch collection device |
| CN106612924A (en) * | 2017-02-09 | 2017-05-10 | 黑龙江贵龙食用菌设备有限公司 | Fungi-bag-agaric picking machine |
| CN107046933A (en) * | 2017-04-19 | 2017-08-18 | 南京航空航天大学 | The automatic picker system of mushroom and method based on machine vision |
| CN108377857A (en) * | 2018-04-16 | 2018-08-10 | 淮南市绿威食用菌种植专业合作社 | A kind of needle mushroom planting edible mushroom device for picking |
| CN108551858A (en) * | 2018-01-22 | 2018-09-21 | 昆明理工大学 | A kind of Chinese cabbage picking collection all-in-one machine |
| CN108770486A (en) * | 2018-08-03 | 2018-11-09 | 浙江机电职业技术学院 | Pineapple picking machine and its picking method |
| CN108848889A (en) * | 2018-06-22 | 2018-11-23 | 江苏农林职业技术学院 | A kind of leaf vegetables harvest machinery device and its control method based on image recognition |
| CN109429917A (en) * | 2018-11-19 | 2019-03-08 | 吉林大学 | A kind of agaricus bisporus automatic acquisition device |
-
2015
- 2015-09-02 CN CN201520679512.5U patent/CN204929664U/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106385958A (en) * | 2016-11-29 | 2017-02-15 | 河南豫博药业科技有限公司 | Billhook type spina gleditsiae branch collection device |
| CN106612924A (en) * | 2017-02-09 | 2017-05-10 | 黑龙江贵龙食用菌设备有限公司 | Fungi-bag-agaric picking machine |
| CN107046933A (en) * | 2017-04-19 | 2017-08-18 | 南京航空航天大学 | The automatic picker system of mushroom and method based on machine vision |
| CN107046933B (en) * | 2017-04-19 | 2019-08-06 | 南京航空航天大学 | The automatic picker system of mushroom and method based on machine vision |
| CN108551858A (en) * | 2018-01-22 | 2018-09-21 | 昆明理工大学 | A kind of Chinese cabbage picking collection all-in-one machine |
| CN108377857A (en) * | 2018-04-16 | 2018-08-10 | 淮南市绿威食用菌种植专业合作社 | A kind of needle mushroom planting edible mushroom device for picking |
| CN108848889A (en) * | 2018-06-22 | 2018-11-23 | 江苏农林职业技术学院 | A kind of leaf vegetables harvest machinery device and its control method based on image recognition |
| CN108770486A (en) * | 2018-08-03 | 2018-11-09 | 浙江机电职业技术学院 | Pineapple picking machine and its picking method |
| CN108770486B (en) * | 2018-08-03 | 2023-10-27 | 浙江机电职业技术学院 | Pineapple picking machine and picking method thereof |
| CN109429917A (en) * | 2018-11-19 | 2019-03-08 | 吉林大学 | A kind of agaricus bisporus automatic acquisition device |
| CN109429917B (en) * | 2018-11-19 | 2024-02-23 | 吉林大学 | Automatic agaricus bisporus collecting device |
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Effective date of registration: 20170706 Address after: 361000, Xiamen Software Park, Fujian, two, 39, 201, 211, 213, 209 Patentee after: XIAMEN YINGTUO COMMUNICATION TECHNOLOGY CO., LTD. Address before: 215614 Jiangsu, Phoenix, Zhangjiagang, Phoenix Road, Phoenix Science and Technology Park, building D on the third floor, building Patentee before: SUZHOU FENGTONG PHOTOELECTRIC CO., LTD. |
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Granted publication date: 20160106 Termination date: 20180902 |
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